CN113484627A

CN113484627A - Wiring detection method and device for electric drive system and motor control system

Info

Publication number: CN113484627A
Application number: CN202110788305.3A
Authority: CN
Inventors: 潘忠亮; 李岩; 李健; 李帅; 李伟亮
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2021-07-13
Filing date: 2021-07-13
Publication date: 2021-10-08
Also published as: WO2023284613A1

Abstract

The invention discloses a wiring detection method and device of an electric drive system and a motor control system, wherein the wiring detection method comprises the steps of providing alpha-axis reference voltage Ualpha to a pulse width modulation circuit, providing direct-current bus voltage Udc to a three-phase inverter, and acquiring first position information of a rotor in a motor and a first current signal output by a current sensor; providing a beta axis reference voltage Ubeta for a pulse width modulation circuit and providing a direct current bus voltage Udc for a three-phase inverter, and acquiring second position information of a rotor in the motor and a second current signal output by a current sensor; determining a wiring state between a three-phase inverter and a three-phase input end of a motor according to an alpha axis reference voltage Ualpha, a beta axis reference voltage Ubeta, and first position information and second position information of a rotor in the motor; and determining the wiring state of the three-phase output end of the motor and the current sensor according to the alpha-axis reference voltage Ualpha and the first current signal output by the current sensor and/or according to the beta-axis reference voltage Ubeta and the second current signal output by the current sensor.

Description

Wiring detection method and device for electric drive system and motor control system

Technical Field

The embodiment of the invention relates to the technical field of phase sequence detection of permanent magnet synchronous motors, in particular to a wiring detection method and device of an electric drive system and a motor control system.

Background

The permanent magnet synchronous motor has the advantages of simple structure, small volume, high efficiency, high power factor, good torque control performance and the like, and is widely applied to new energy automobiles. The existing permanent magnet synchronous motor is driven by a rotor magnetic field directional vector control method, a structural schematic diagram of a control system of the existing permanent magnet synchronous motor is shown in fig. 1, when a torque Te is input to the control system, a torque-current conversion module 110 outputs currents (i.e. a q-axis current Iq and a d-axis current Id) under a rotating coordinate system to a current controller 120 according to the torque Te, the current controller 120 outputs Uq and Ud to a coordinate conversion module 130 according to Iq and Id, respectively, the coordinate conversion module 130 converts voltages (i.e. a q-axis voltage Uq and a d-axis voltage Ud) under the rotating coordinate system into voltages (i.e. an alpha-axis voltage U α and a beta-axis voltage U β) under a stationary coordinate system and outputs the voltages to a pulse width modulation circuit 140, the pulse width modulation circuit 140 adjusts pulse widths of U α and U β, and outputs three-phase voltage signals to an input end of a motor 160 according to U α and U β which adjust the pulse widths through a three-phase inverter 150, the current sensor 170 collects three-phase currents output by the motor, converts the three-phase currents (Ia, Ib, Ic) into current signals (i.e., q-axis current Iq-ref and d-axis current Id-ref) in a rotating coordinate system through the conversion module 180, and transmits the current signals as feedback signals to the current controller 120, and the current controller 120 adjusts output signals according to the feedback current signals (q-axis current Iq-ref and d-axis current Id-ref) and input current signals (i.e., q-axis current Iq and d-axis current Id output according to the input torque Te) so that the feedback current signals are equal to the input current signals, thereby enabling the motor to normally operate. The power line of the three-phase inverter is U, V, W three-phase connection, the input line and the output line of the permanent magnet synchronous motor are both A, B, C three-phase connection, the input connection of the current sensor is A, B, C three-phase connection, the power line (U, V, W) of the three-phase inverter and the input line (A, B, C) of the permanent magnet synchronous motor must be connected according to a certain phase sequence, the output line (A, B, C) of the permanent magnet synchronous motor and the input line (A, B, C) of the current sensor must be connected according to a certain phase sequence, and the motor can normally run. In a normal condition, a U-phase power line of a three-phase inverter is electrically connected with an A-phase input line of a motor, a V-phase power line is electrically connected with a B-phase input line of the motor, and a W-phase power line is electrically connected with a C-phase input line of the motor; the phase A input line of the current sensor is electrically connected with the phase A output line of the motor, the phase B input line is electrically connected with the phase B output line of the motor, and the phase C input line is electrically connected with the phase C output line of the motor.

In the motor electric driving system for the pure electric vehicle, due to various reasons, the condition that the phase sequence of a power line of a three-phase inverter and an input line of a motor is connected in a wrong way often occurs, so that the motor is reversed or vibrates, further the vehicle runs in the wrong direction or cannot run normally, and the power line needs to be checked and reconnected at the moment; when the input line of the current sensor is connected with the output line of the motor in a wrong phase sequence, hardware overcurrent easily occurs to damage devices in a control circuit due to the directional vector control of the rotor magnetic field of the control system, so that the vehicle cannot run normally.

Disclosure of Invention

The invention provides a wiring detection method and device of an electric drive system and a motor control system, which are used for detecting the wiring between a power line of a three-phase inverter and an input line of a motor and detecting the wiring between an output line of the motor and a current sensor.

In a first aspect, an embodiment of the present invention provides a wiring detection method for an electric drive system, where the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor, and a current sensor, which are electrically connected in sequence, and the method includes:

providing an alpha axis reference voltage Ualpha to the pulse width modulation circuit, providing a direct current bus voltage Udc to the three-phase inverter, and acquiring first position information of a rotor in the motor and a first current signal output by the current sensor;

providing a beta axis reference voltage Ubeta to the pulse width modulation circuit, providing the direct current bus voltage Udc to the three-phase inverter, and acquiring second position information of a rotor in the motor and a second current signal output by the current sensor;

determining a wiring state between the three-phase inverter and a three-phase input end of the motor according to the alpha-axis reference voltage Ualpha, the beta-axis reference voltage Ubeta and the first position information and the second position information of a rotor in the motor;

and determining the wiring state of the three-phase output end of the motor and the current sensor according to the alpha-axis reference voltage Ualpha and the first current signal output by the current sensor and/or according to the beta-axis reference voltage Ubeta and the second current signal output by the current sensor.

Optionally, the first position information includes a first electrical angle of the motor rotor, and the second position information includes a second electrical angle of the motor rotor;

determining a wiring state between the three-phase inverter and a three-phase input end of the motor according to the alpha-axis reference voltage Ualpha, the beta-axis reference voltage Ubeta, and the first position information and the second position information of a rotor in the motor, including:

when the alpha axis reference voltage Ualpha and the beta axis reference voltage Ubeta are both positive values or the alpha axis reference voltage Ualpha and the beta axis reference voltage Ubeta are both negative values, judging whether the phase difference value between the second electrical angle and the first electrical angle is pi/2; if so, determining that the wiring state between the three-phase inverter and the three-phase input end of the motor is normal; if not, determining that the wiring state between the three-phase inverter and the three-phase input end of the motor is abnormal;

or, when the α -axis reference voltage U α is a positive value and the β -axis reference voltage U β is a negative value, or the α -axis reference voltage U α is a negative value and the β -axis reference voltage U β is a positive value, determining whether a phase difference value between the second electrical angle and the first electrical angle is-pi/2; if so, determining that the wiring state between the three-phase inverter and the three-phase input end of the motor is normal; if not, determining that the wiring state between the three-phase inverter and the three-phase input end of the motor is abnormal;

wherein the content of the first and second substances,

m is a coefficient related to an electromagnetic coefficient of the motor in an alpha axis, and n is a coefficient related to an electromagnetic coefficient of the motor in a beta axis.

Optionally, the first current signal output by the current sensor includes a first a-phase current value, a first B-phase current value, and a first C-phase current value; the first a-phase current value is a current output by an a-phase output end of the motor detected by the current sensor, the first B-phase current value is a current output by a B-phase output end of the motor detected by the current sensor, and the first C-phase current value is a current output by a C-phase output end of the motor detected by the current sensor;

the second current signal output by the current sensor comprises a second A-phase current value, a second B-phase current value and a second C-phase current value; the second a-phase current value is a current output by the a-phase output terminal of the motor detected by the current sensor, the second B-phase current value is a current output by the B-phase output terminal of the motor detected by the current sensor, and the second C-phase current value is a current output by the C-phase output terminal of the motor detected by the current sensor;

when the wiring state of the three-phase output end of the motor and the current sensor is normal, the A-phase output end of the motor is electrically connected with the A-phase current acquisition end of the current sensor, the B-phase output end of the motor is electrically connected with the B-phase current acquisition end of the current sensor, and the C-phase output end of the motor is electrically connected with the C-phase current acquisition end of the current sensor.

Optionally, determining a connection state between the three-phase output terminal of the motor and the current sensor according to the α -axis reference voltage U α and the first current signal output by the current sensor, includes:

when the alpha axis reference voltage Ualpha is a positive value, if the first A-phase current value is a positive number and the first B-phase current value and the first C-phase current value are negative numbers, determining that the wiring state of the three-phase output end of the motor and the current sensor is normal; if the first A-phase current value and the first C-phase current value are both negative numbers and the first B-phase current value is a positive number, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, and the B-phase output end of the motor is electrically connected with the A-phase current signal acquisition end of the current sensor and the A-phase output end of the motor is electrically connected with the B-phase current signal acquisition end of the current sensor; if the first A-phase current value and the first B-phase current value are both negative numbers and the first C-phase current value is a positive number, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, and the C-phase output end of the motor is electrically connected with the A-phase current signal acquisition end of the current sensor and the A-phase output end of the motor is electrically connected with the C-phase current signal acquisition end of the current sensor;

or when the alpha-axis reference voltage Ualpha is a negative value, if the first A-phase current value is a negative number and the first B-phase current value and the first C-phase current value are positive numbers, determining that the wiring state of the three-phase output end of the motor and the current sensor is normal; if the first A-phase current value and the first C-phase current value are positive numbers and the first B-phase current value is a negative number, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, and the B-phase output end of the motor is electrically connected with the A-phase current signal acquisition end of the current sensor and the A-phase output end of the motor is electrically connected with the B-phase current signal acquisition end of the current sensor; and if the first A-phase current value and the first B-phase current value are positive numbers and the first C-phase output current is a negative number, determining that the three-phase output end of the motor is abnormal with the wiring state of the current sensor, electrically connecting the C-phase output end of the motor with the A-phase current signal acquisition end of the current sensor, and electrically connecting the A-phase output end of the motor with the C-phase current signal acquisition end of the current sensor.

Optionally, determining a connection state between the three-phase output terminal of the motor and the current sensor according to the β -axis reference voltage U β and the second current signal output by the current sensor, includes:

when the beta axis reference voltage Ubeta is a positive value, if the second A-phase current value is 0, the second B-phase current value is a positive number and the second C-phase current value is a negative number, determining that the wiring state of the three-phase output end of the motor and the current sensor is normal; if the second A-phase current value is a positive number, the second B-phase current value is 0, and the second C-phase current value is a negative number, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, wherein the B-phase output end of the motor is electrically connected with the A-phase current signal acquisition end of the current sensor, and the A-phase output end of the motor is electrically connected with the B-phase current signal acquisition end of the current sensor; if the second A-phase current value is a negative number, the second B-phase current values are positive numbers, and the second C-phase current value is 0, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, wherein the C-phase output end of the motor is electrically connected with the A-phase current signal acquisition end of the current sensor, and the A-phase output end of the motor is electrically connected with the C-phase current signal acquisition end of the current sensor; if the second A-phase current value is 0, the second B-phase current value is a negative number, and the second C-phase current value is a positive number, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, wherein the B-phase output end of the motor is electrically connected with the C-phase current signal acquisition end of the current sensor, and the C-phase output end of the motor is electrically connected with the B-phase current signal acquisition end of the current sensor;

or when the beta axis reference voltage U beta is a negative value, if the second a-phase current value is 0, the second B-phase current value is a negative number, and the second C-phase current value is a positive number, it is determined that the connection state between the three-phase output end of the motor and the current sensor is normal; if the second A-phase current value is a negative number, the second B-phase current value is 0, and the second C-phase current value is a positive number, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, wherein the B-phase output end of the motor is electrically connected with the A-phase current signal acquisition end of the current sensor, and the A-phase output end of the motor is electrically connected with the B-phase current signal acquisition end of the current sensor; if the second A-phase current value is a positive number, the second B-phase current values are negative numbers, and the second C-phase current value is 0, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, wherein the C-phase output end of the motor is electrically connected with the A-phase current signal acquisition end of the current sensor, and the A-phase output end of the motor is electrically connected with the C-phase current signal acquisition end of the current sensor; and if the second A-phase current value is 0, the second B-phase current value is a positive number, and the second C-phase current value is a negative number, determining that the three-phase output end of the motor is abnormal in wiring state with the current sensor, the B-phase output end of the motor is electrically connected with the C-phase current signal acquisition end of the current sensor, and the C-phase output end of the motor is electrically connected with the B-phase current signal acquisition end of the current sensor.

Optionally, providing an α -axis reference voltage U α to the pulse width modulation circuit, and acquiring first position information of a rotor in the motor and a first current signal output by the current sensor, includes:

starting when the voltage value of an alpha-axis reference voltage Ualpha is equal to 0, time is given to the pulse width modulation circuit for the alpha-axis reference voltage Ualpha for multiple times, and first position information of a rotor in the motor and a first current signal output by a current sensor are obtained until the voltage value of the alpha-axis reference voltage Ualpha is a preset voltage value; the voltage value of the alpha-axis reference voltage Ualpha provided to the pulse width modulation circuit at the last time is larger than that of the alpha-axis reference voltage Ualpha provided to the pulse width modulation circuit at the last time by a first preset value.

Optionally, providing a β -axis reference voltage U β to the pulse width modulation circuit, and acquiring second position information of a rotor in the motor and a second current signal output by the current sensor, includes:

starting with the fact that the voltage value of a beta axis reference voltage Ubeta is equal to 0, time is given to the pulse width modulation circuit for the beta axis reference voltage Ubeta for multiple times, and second position information of a rotor in the motor and a second current signal output by the current sensor are obtained until the voltage value of the beta axis reference voltage Ubeta is a preset voltage value; the beta-axis reference voltage Ubeta provided to the pulse width modulation circuit at the last time is larger than the voltage value of the beta-axis reference voltage Ubeta provided to the pulse width modulation circuit at the last time by a second preset value.

Optionally, the wiring detection method further includes:

and displaying the wiring state between the three-phase inverter and the three-phase input end of the motor, and displaying the wiring state between the three-phase output end of the motor and the current sensor.

In a second aspect, an embodiment of the present invention further provides a wiring detection device for an electric drive system, where the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor, and a current sensor, which are electrically connected in sequence, and the wiring detection device includes:

the first information acquisition module is used for acquiring first position information of a rotor in the motor and a first current signal output by the current sensor when an alpha-axis reference voltage Ualpha is provided for the pulse width modulation circuit and a direct current bus voltage Udc is provided for the three-phase inverter;

the second information acquisition module is used for acquiring second position information of a rotor in the motor and a second current signal output by the current sensor when the pulse width modulation circuit provides a beta-axis reference voltage Ubeta and the three-phase inverter provides the direct-current bus voltage Udc;

a first connection state determination module, configured to determine a connection state between the three-phase inverter and a three-phase input end of the motor according to the α -axis reference voltage U α, the β -axis reference voltage U β, and the first position information and the second position information of a rotor in the motor;

and the second wiring state determining module is used for determining the wiring state of the three-phase output end of the motor and the current sensor according to the alpha-axis reference voltage Ualpha and the first current signal output by the current sensor and/or according to the beta-axis reference voltage Ubeta and the second current signal output by the current sensor.

In a third aspect, an embodiment of the present invention further provides a motor control system, including an electric drive system and a controller;

the electric drive system comprises a pulse width modulation circuit, a three-phase inverter, a motor and a current sensor which are electrically connected in sequence;

the controller is configured to perform the wiring detection method of the electric drive system described above.

The wiring detection method of the electric drive system provided by the embodiment of the invention comprises the steps of firstly providing an alpha axis reference voltage Ualpha to a pulse width modulation circuit and providing a direct current bus voltage Udc to a three-phase inverter, acquiring first position information of a rotor in a motor and a first current signal output by a current sensor under the reference voltage, providing a beta axis reference voltage Ubeta to the pulse width modulation circuit and providing the direct current bus voltage Udc to the three-phase inverter again after the state of the motor is an initial state, acquiring second position information of the rotor in the motor and a second current signal output by the current sensor under the reference voltage, detecting the wiring state between the three-phase inverter and a three-phase input end of the motor according to the alpha axis reference voltage Ualpha and the beta axis reference voltage Ubeta and the first position information and the second position information of the rotor in the motor, and outputting the first current signal according to the alpha axis reference voltage Ualpha and the current sensor, and/or the wiring state of the three-phase output end of the motor and the current sensor can be detected according to the beta-axis reference voltage Ubeta and the second current signal output by the current sensor. The wiring detection method can simultaneously detect the wiring state of the three-phase inverter and the motor and the wiring state of the motor and the current sensor through the alpha-axis reference voltage Ualpha and the beta-axis reference voltage Ubeta which are respectively provided, is effective and simple, is easy to realize, and can effectively avoid the problem that the motor cannot normally work or system devices are damaged due to wiring errors.

Drawings

Fig. 1 is a schematic structural diagram of a conventional permanent magnet synchronous motor control system;

FIG. 2 is a schematic diagram of an electric drive system according to an embodiment of the present invention;

FIG. 3 is a flow chart of a wiring detection method for an electric drive system provided by an embodiment of the present invention;

FIG. 4 is a flow chart of another method of wiring detection for an electric drive system provided by an embodiment of the present invention;

FIG. 5 is a flow chart of a method for detecting a wiring connection of an electric drive system according to an embodiment of the present invention;

FIG. 6 is a flow chart of a method for detecting a wiring connection of an electric drive system according to an embodiment of the present invention;

FIG. 7 is a flow chart of a method for detecting a wiring connection of an electric drive system according to an embodiment of the present invention;

FIG. 8 is a flow chart of a method for detecting a wiring connection of an electric drive system according to an embodiment of the present invention;

FIG. 9 is a schematic structural diagram of a wiring detection device of an electric drive system according to an embodiment of the present invention;

fig. 10 is a schematic structural diagram of a wiring detection device of another electric drive system according to an embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

The embodiment of the invention provides a wiring detection method of an electric drive system, which can detect the wiring condition of a three-phase inverter and a motor and the wiring condition of the motor and a current sensor, and can be executed by the wiring detection device of the electric drive system provided by the embodiment of the invention, the wiring detection device of the electric drive system is realized by software and/or hardware, and the wiring detection device of the electric drive system can be integrated in the motor control system provided by the embodiment of the invention.

Fig. 2 is a schematic structural diagram of an electric drive system according to an embodiment of the present invention, and as shown in fig. 2, the electric drive system includes a pulse width modulation circuit, a three-phase inverter, a motor, and a current sensor, which are electrically connected in sequence. Fig. 3 is a flowchart of a wiring detection method of an electric drive system according to an embodiment of the present invention, and as shown in fig. 3, the wiring detection method of the electric drive system includes:

s110, providing an alpha axis reference voltage Ualpha to a pulse width modulation circuit, providing a direct current bus voltage Udc to a three-phase inverter, and acquiring first position information of a rotor in the motor and a first current signal output by a current sensor.

And S120, providing a beta axis reference voltage U beta for the pulse width modulation circuit, providing a direct current bus voltage Udc for the three-phase inverter, and acquiring second position information of a rotor in the motor and a second current signal output by the current sensor.

Specifically, as shown in fig. 3, the open-loop control method is used to detect the wiring of the electric drive system, and the reference voltage in the stationary coordinate system (i.e., the coordinate system formed by the α axis and the β axis) is directly provided to the electric drive system. When the phase sequence of the power line of the three-phase inverter 220 is correctly connected with the input line of the motor 230, and the α -axis reference voltage U α and the β -axis reference voltage U β are respectively input to the motor 230, the rotation angle difference of the rotor of the motor 230 under the two reference voltages is a fixed value; when the phase sequence connection between the output line of the motor 230 and the input line of the current sensor 240 is correct, the three-phase output current of the current sensor 240 has a corresponding relationship with U α or U β, so that it is possible to detect the phase sequence connection between the power line of the three-phase inverter 220 and the input line of the motor 230 by inputting the α -axis reference voltage U α and the β -axis reference voltage U β to the electric drive system, respectively, by detecting the positional relationship of the rotor of the motor 230 at the two reference voltages, and by detecting the phase sequence connection between the output line of the motor 230 and the input line of the current sensor 240 by detecting the output current at the α -axis reference voltage U α and/or the β -axis reference voltage U β of the current sensor 240.

Illustratively, an α -axis reference voltage U α is provided to the pulse width modulation circuit 210, the pulse width modulation circuit 210 performs pulse width modulation on the α -axis reference voltage U α and transmits a pulse width modulated signal to the three-phase inverter 220, a dc bus voltage Udc is provided to the three-phase inverter 220, the three-phase inverter 220 is turned on and outputs an ac signal to the motor 230 according to the pulse width modulated signal, a three-phase current signal output by the motor 230 is collected and output by the current sensor 240, and at this time, first position information of a rotor in the motor 230 and a first current signal output by the current sensor 240 under the α -axis reference voltage U α are obtained. After the first position information and the first current signal are obtained, the motor state is returned to the initial position, a β -axis reference voltage U β is provided to the pulse width modulation circuit 210, the pulse width modulation circuit 210 performs pulse width modulation on the β -axis reference voltage U β and transmits a pulse width modulated signal to the three-phase inverter 220, a direct current bus voltage Udc is provided to the three-phase inverter 220, the three-phase inverter 220 is turned on and outputs an alternating current signal to the motor 230 according to the pulse width modulated signal, the three-phase current signal output by the motor 230 is collected and output by the current sensor 240, and at this time, second position information of a rotor in the motor 230 and a second current signal output by the current sensor 240 under the β -axis reference voltage U β are obtained.

S130, determining a wiring state between the three-phase inverter and the three-phase input end of the motor according to the alpha-axis reference voltage Ualpha, the beta-axis reference voltage Ubeta, and the first position information and the second position information of the rotor in the motor.

Specifically, if the relationship between the first position information and the second position information of the rotor in the motor 230 satisfies the relationship corresponding to the known α -axis reference voltage U α and the known β -axis reference voltage U β under the known α -axis reference voltage U α and the known β -axis reference voltage U β, it is determined that the connection phase sequence between the three-phase inverter and the three-phase input terminal of the motor is correct, and if the relationship does not satisfy the relationship, it is determined that the connection phase sequence between the three-phase inverter and the three-phase input terminal of the motor is incorrect.

And S140, determining the wiring state of the three-phase output end of the motor and the current sensor according to the alpha-axis reference voltage Ualpha and the first current signal output by the current sensor and/or according to the beta-axis reference voltage Ubeta and the second current signal output by the current sensor.

Specifically, if the value of the first current signal output by the current sensor is the value corresponding to the α -axis reference voltage U α under the known α -axis reference voltage U α, it is determined that the phase sequence of the three-phase output end of the motor and the current sensor is correct, and/or if the value of the second current signal output by the current sensor is the value corresponding to the β -axis reference voltage U β under the β -axis reference voltage U β, it is determined that the phase sequence of the three-phase output end of the motor and the current sensor is correct, and if any one of the above conditions is not met, it is determined that the phase sequence of the three-phase output end of the motor and the current sensor is incorrect.

Optionally, the first position information includes a first electrical angle of the rotor of the electric machine, and the second position information includes a second electrical angle of the rotor of the electric machine; fig. 4 is a flowchart of a wiring detection method of another electric drive system according to an embodiment of the present invention, as shown in fig. 4, the wiring detection method includes:

s210, providing an alpha axis reference voltage Ualpha to a pulse width modulation circuit, providing a direct current bus voltage Udc to a three-phase inverter, and acquiring first position information of a rotor in the motor and a first current signal output by a current sensor.

And S220, providing a beta-axis reference voltage U beta for the pulse width modulation circuit, providing a direct current bus voltage Udc for the three-phase inverter, and acquiring second position information of a rotor in the motor and a second current signal output by the current sensor.

S230, when the alpha axis reference voltage Ualpha and the beta axis reference voltage Ubeta are both positive values or the alpha axis reference voltage Ualpha and the beta axis reference voltage Ubeta are both negative values, judging whether the phase difference value between the second electrical angle and the first electrical angle is pi/2; if yes, go to S240; if not, go to S250.

And S240, determining that the wiring state between the three-phase inverter and the three-phase input end of the motor is normal.

And S250, determining that the wiring state between the three-phase inverter and the three-phase input end of the motor is abnormal.

Wherein the content of the first and second substances,

Specifically, because the alpha axis and the beta axis are perpendicular to each other and lead the positive direction pi/2 of the alpha axis along the positive direction of the beta axis along the counterclockwise direction, when the three-phase power line (U, V, W) of the three-phase inverter is correctly connected with the three-phase input connection (A, B, C) of the motor in a phase sequence, if the reference voltage U alpha of the alpha axis and the reference voltage U beta of the beta axis provided to the pulse width modulation circuit are both positive values and the torque generated to the rotor of the motor is equal, for example

Or both the reference voltages U α and U β are negative and the torque generated to the motor rotor is equal, e.g.

At this time, the phase difference between the second electrical angle of the motor rotor rotating under the beta-axis reference voltage Ubeta and the first electrical angle of the motor rotor rotating under the alpha-axis reference voltage Ualpha is pi/2, so that the second electrical angle and the first electrical angle can be judged by judgingWhether the phase difference of the electrical angles is pi/2 or not determines whether the connection between the three-phase power line of the three-phase inverter and the input line of the motor is accurate or not, if the phase difference of the second electrical angle and the first electrical angle is pi/2, the connection state between the three-phase inverter and the three-phase input end of the motor is determined to be normal, and if the phase difference of the second electrical angle and the first electrical angle is not pi/2, the connection state between the three-phase inverter and the three-phase input end of the motor is determined to be abnormal, namely the three-phase power line U, V, W of the three-phase inverter is not correspondingly connected with the input line A, B, C of the motor, and the connection between the three-phase inverter and the motor can be reconnected.

Optionally, fig. 5 is a flowchart of a wiring detection method of another electric drive system according to an embodiment of the present invention, and as shown in fig. 5, the wiring detection method includes:

s310, providing an alpha axis reference voltage Ualpha to a pulse width modulation circuit, providing a direct current bus voltage Udc to a three-phase inverter, and acquiring first position information of a rotor in the motor and a first current signal output by a current sensor.

And S320, providing a beta axis reference voltage U beta for the pulse width modulation circuit, providing a direct current bus voltage Udc for the three-phase inverter, and acquiring second position information of a rotor in the motor and a second current signal output by the current sensor.

S330, when the alpha-axis reference voltage Ualpha is a positive value and the beta-axis reference voltage Ubeta is a negative value, or the alpha-axis reference voltage Ualpha is a negative value and the beta-axis reference voltage Ubeta is a positive value, judging whether the phase difference value between the second electrical angle and the first electrical angle is-pi/2; if yes, go to S340; if not, go to S350.

And S340, determining that the wiring state between the three-phase inverter and the three-phase input end of the motor is normal.

And S350, determining that the wiring state between the three-phase inverter and the three-phase input end of the motor is abnormal.

Wherein the content of the first and second substances,

Specifically, since the α axis and the β axis are perpendicular to each other and lead the α axis positive direction pi/2 in the counterclockwise direction β 0 axis positive direction, that is, the α axis positive direction leads the β 1 axis negative direction pi/2, and the α axis negative direction leads the β axis positive direction pi/2, when the three-phase power line (U, V, W) of the three-phase inverter and the three-phase input connection line (A, B, C) of the motor are connected correctly in phase sequence, if the α axis reference voltage U α supplied to the pulse width modulation circuit is a positive value, the β axis reference voltage U β is a negative value, and the torques generated to the motor rotor are equal, for example, the torque generated to the motor rotor is equal

Or the reference voltage U α of the α axis is negative and the reference voltage U β of the β axis is positive and the torque generated to the rotor of the motor is equal, e.g.

At this time, the phase difference between the second electrical angle of the rotor of the motor rotating under the beta-axis reference voltage Ubeta and the first electrical angle of the rotor rotating under the alpha-axis reference voltage Ualpha is-pi/2, therefore, whether the connection between the three-phase power line of the three-phase inverter and the input line of the motor is accurate can be determined by judging whether the phase difference between the second electrical angle and the first electrical angle is-pi/2, if the phase difference between the second electrical angle and the first electrical angle is-pi/2, the connection state between the three-phase inverter and the three-phase input end of the motor is determined to be normal, if the phase difference between the second electrical angle and the first electrical angle is not-pi/2, the connection state between the three-phase inverter and the three-phase input end of the motor is determined to be abnormal, namely, the three-phase power line U, V, W of the three-phase inverter is not correspondingly connected with the input line A, B, C of the motor, the wiring between the three-phase inverter and the motor may be reconnected.

The wiring detection method of the electric drive system provided by the embodiment of the invention provides different detection methods for the position information of the motor rotor corresponding to the different conditions that the alpha-axis reference voltage Ualpha and the beta-axis reference voltage Ubeta are positive numbers or negative numbers, improves the intelligent degree of the wiring detection method, and is suitable for wiring detection under various conditions.

Optionally, the first current signal output by the current sensor includes a first a-phase current value Ia1, a first B-phase current value Ib1 and a first C-phase current value Ic 1; the first a-phase current value Ia1 is a current output by the a-phase output terminal of the motor detected by the current sensor, the first B-phase current value Ib1 is a current output by the B-phase output terminal of the motor detected by the current sensor, and the first C-phase current value Ic1 is a current output by the C-phase output terminal of the motor detected by the current sensor; the second current signal output by the current sensor includes a second a-phase current value Ia2, a second B-phase current value Ib2, and a second C-phase current Ic 2; the second a-phase current value Ia2 is the current output from the a-phase output terminal of the motor detected by the current sensor, the second B-phase current value Ib2 is the current output from the B-phase output terminal of the motor detected by the current sensor, and the second C-phase current value Ic2 is the current output from the C-phase output terminal of the motor detected by the current sensor.

Referring to fig. 2, when the connection state between the three-phase output terminal of the motor and the current sensor is normal, the a-phase output terminal of the motor is electrically connected to the a-phase current collecting terminal of the current sensor, the B-phase output terminal of the motor is electrically connected to the B-phase current collecting terminal of the current sensor, and the C-phase output terminal of the motor is electrically connected to the C-phase current collecting terminal of the current sensor.

Optionally, fig. 6 is a flowchart of a wiring detection method of another electric drive system according to an embodiment of the present invention, and as shown in fig. 6, the wiring detection method includes:

s410, providing an alpha axis reference voltage Ualpha to a pulse width modulation circuit, providing a direct current bus voltage Udc to a three-phase inverter, and acquiring first position information of a rotor in the motor and a first current signal output by a current sensor.

S420, when the alpha axis reference voltage Ualpha is a positive value, judging whether the first A-phase current value is a positive number or not, wherein the first B-phase current value and the first C-phase current value are negative numbers; if yes, go to S430; if not, S440 is performed.

And S430, determining that the wiring state of the three-phase output end of the motor and the current sensor is normal.

Specifically, if the three-phase output line of the motor is in a normal connection state with the current sensor, that is, the a-phase output end of the motor is electrically connected to the a-phase current collection end of the current sensor, the B-phase output end of the motor is electrically connected to the B-phase current collection end of the current sensor, and the C-phase output end of the motor is electrically connected to the C-phase current collection end of the current sensor, when the input α -axis reference voltage U α is a positive value, the first a-phase current value Ia1 of the motor is a positive number, and the first B-phase current value Ib1 and the first C-phase current value Ic1 are both negative numbers. Therefore, when the input α -axis reference voltage U α is a positive value, the connection state between the motor and the current sensor may be determined by determining whether the three-phase output current of the motor satisfies the above relationship, and if the determination result is that the first a-phase current value Ia1 is a positive number and both the first B-phase current value Ib1 and the first C-phase current value Ic1 are negative numbers, it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is normal, and if the determination result does not coincide with the above result, it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and it is possible to continuously determine the connection error condition between the motor and the current sensor.

S440, judging whether the first A-phase current value and the first C-phase current value are both negative numbers and the first B-phase current value is a positive number; if so; then S450 is executed; if not; s460 is performed.

S450, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, wherein the phase B output end of the motor is electrically connected with the phase A current signal acquisition end of the current sensor, and the phase A output end of the motor is electrically connected with the phase B current signal acquisition end of the current sensor.

Specifically, if the input α -axis reference voltage U α is a positive value, the output current of the current sensor is not that the first a-phase current value is a positive number, and the first B-phase current value and the first C-phase current value are both negative numbers, it is determined that the connection state of the three-phase output end of the motor and the current sensor is abnormal, and it may be continuously determined which of the two specific connections between the motor and the current sensor is misconnected.

S460, judging whether the first A-phase current value and the first B-phase current value are both negative numbers and the first C-phase current value is a positive number; if yes, go to step S470.

S470, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, wherein the C-phase output end of the motor is electrically connected with the A-phase current signal acquisition end of the current sensor, and the A-phase output end of the motor is electrically connected with the C-phase current signal acquisition end of the current sensor.

Specifically, if it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, the output current of the current sensor is not a negative value of the first a-phase current value and the first C-phase current value, and the first B-phase current value is a positive value, it may be determined that the output current of the current sensor is: the first A-phase current value and the first B-phase current value are both negative numbers, the first C-phase current value is a positive number, at the moment, the C-phase output end of the motor can be electrically connected with the A-phase current signal acquisition end of the current sensor, the A-phase output end of the motor is electrically connected with the C-phase current signal acquisition end of the current sensor, and the A-phase wiring and the C-phase wiring between the motor and the current sensor are directly reconnected.

Alternatively, similar to the principle of the above embodiment, when the connection state of the three-phase output terminal of the motor and the current sensor is normal, if the input α -axis reference voltage U α is a negative value, the output current of the current sensor should be a negative first a-phase current value, and both the first B-phase current value and the first C-phase current value are positive numbers, so that when the input α -axis reference voltage U α is a negative value, the connection state between the motor and the current sensor can be determined by determining whether the three-phase output current of the motor satisfies the above relationship, if the determination result is that the first a-phase current value is a negative number, and both the first B-phase current value and the first C-phase current value are positive numbers, it is determined that the connection state of the three-phase output terminal of the motor and the current sensor is normal, and if the determination result does not coincide with the above result, it is determined that the connection state of the three-phase output terminal of the motor and the current sensor is abnormal, the wiring error condition between the motor and the current sensor can be continuously judged.

The wiring detection method of the electric drive system provided by the embodiment of the invention provides different detection methods for the first current signal output by the corresponding current sensor under different conditions that the reference voltage Ualpha of the alpha axis is a positive number or a negative number, improves the intelligent degree of the wiring detection method, and is suitable for wiring detection under various conditions.

For example, if the first a-phase current value and the first C-phase current value are both positive numbers and the first B-phase current value is a negative number, it is determined that the connection state of the three-phase output end of the motor and the current sensor is abnormal, the B-phase output end of the motor is electrically connected with the a-phase current signal acquisition end of the current sensor, and the a-phase output end of the motor is electrically connected with the B-phase current signal acquisition end of the current sensor, then the a-phase connection wire and the B-phase connection wire between the motor and the current sensor can be directly reconnected. And if the first A-phase current value and the first B-phase current value are positive numbers and the first C-phase output current is a negative number, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, electrically connecting the C-phase output end of the motor with the A-phase current signal acquisition end of the current sensor, and electrically connecting the A-phase output end of the motor with the C-phase current signal acquisition end of the current sensor, and directly reconnecting the A-phase wiring and the C-phase wiring between the motor and the current sensor.

Optionally, fig. 7 is a flowchart of a wiring detection method of an electric drive system according to another embodiment of the present invention, and as shown in fig. 7, the wiring detection method includes:

and S510, providing a beta axis reference voltage U beta for the pulse width modulation circuit, providing a direct current bus voltage Udc for the three-phase inverter, and acquiring second position information of a rotor in the motor and a second current signal output by the current sensor.

S520, when the reference voltage U beta of the beta axis is a positive value, judging whether a second A-phase current value is 0, a second B-phase current value is a positive number, and a second C-phase current value is a negative number; if yes, go to S530; if not, go to S540.

And S530, determining that the wiring state of the three-phase output end of the motor and the current sensor is normal.

Specifically, if the connection state between the three-phase output line of the motor and the current sensor is normal, that is, the a-phase output end of the motor is electrically connected to the a-phase current collection end of the current sensor, the B-phase output end of the motor is electrically connected to the B-phase current collection end of the current sensor, and the C-phase output end of the motor is electrically connected to the C-phase current collection end of the current sensor, when the input β -axis reference voltage U β is a positive value, the second a-phase current value Ia2 of the motor is 0, the second B-phase current value Ib2 is a positive number, and the second C-phase current value Ic2 is a negative number. Therefore, when the input β -axis reference voltage U β is a positive value, the connection state between the motor and the current sensor can be determined by determining whether the three-phase output current of the motor satisfies the above relationship, that is, if the determination result is that the second a-phase current value Ia2 is 0, the second B-phase current value Ib2 is a positive number, and the second C-phase current value Ic2 is a negative number, the connection state between the three-phase output terminal of the motor and the current sensor is determined to be normal, and if the determination result does not match the above result, the connection state between the three-phase output terminal of the motor and the current sensor is determined to be abnormal, and the connection error condition between the motor and the current sensor can be continuously determined.

S540, judging whether the second A-phase current value is a positive number, the second B-phase current value is 0 and the second C-phase current value is a negative number; if yes, go to S550; if not, go to S560.

S550, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, electrically connecting the B-phase output end of the motor with the A-phase current signal acquisition end of the current sensor, and electrically connecting the A-phase output end of the motor with the B-phase current signal acquisition end of the current sensor.

Specifically, when the input β -axis reference voltage U β is a positive value, the output current of the current sensor is not the second a-phase current value Ia2 being 0, the second B-phase current value Ib2 being a positive number and the second C-phase current value Ic2 being a negative number, it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, and it is possible to continuously determine which of the two connections between the motor and the current sensor is misconnected, which, for example, it is continuously determined whether the second a-phase current value Ia2 is positive, the second B-phase current value Ib2 is 0, and the second C-phase current value Ic2 is negative, and if so, it can be determined that the B-phase output terminal of the motor is electrically connected to the a-phase current signal acquisition terminal of the current sensor, and the A-phase output end of the motor is electrically connected with the B-phase current signal acquisition end of the current sensor, and the A-phase wiring and the B-phase wiring between the motor and the current sensor can be directly reconnected.

S560, judging whether the second A-phase current value is a negative number, the second B-phase current value is a positive number, and the second C-phase current value is 0; if yes, go to S570; if not, S580 is executed.

And S570, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, electrically connecting the C-phase output end of the motor with the A-phase current signal acquisition end of the current sensor, and electrically connecting the A-phase output end of the motor with the C-phase current signal acquisition end of the current sensor.

Specifically, if it is determined that the connection state between the three-phase output terminal of the motor and the current sensor is abnormal, if the output current of the current sensor is not the second a-phase current value Ia2 and is a positive number, the second B-phase current value Ib2 is 0, and the second C-phase current value Ic2 is a negative number, it can be continuously determined whether the output current of the current sensor is: the second a-phase current value Ia2 is a negative number, the second B-phase current value Ib2 is a positive number, and the second C-phase current value Ic2 is 0, and if so, it is determined that the C-phase output terminal of the motor is electrically connected to the a-phase current signal acquisition terminal of the current sensor, and the a-phase output terminal of the motor is electrically connected to the C-phase current signal acquisition terminal of the current sensor, and the a-phase connection wire and the C-phase connection wire between the motor and the current sensor are directly reconnected.

S580, judging whether the second A-phase current value is 0, the second B-phase current value is a negative number, and the second C-phase current value is a positive number; if yes, S590 is performed.

And S590, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, wherein the phase B output end of the motor is electrically connected with the phase C current signal acquisition end of the current sensor, and the phase C output end of the motor is electrically connected with the phase B current signal acquisition end of the current sensor.

Specifically, if it is determined that the wiring states of the three-phase output end of the motor and the current sensor are abnormal, and the output current of the current sensor is uniformly distributed to meet the above conditions, it may be determined that the output current of the current sensor is the second a-phase current value Ia2 of 0, the second B-phase current value Ib2 of a negative number, and the second C-phase current value Ic2 of a positive number, at this time, it may be determined that the B-phase output end of the motor is electrically connected to the C-phase current signal acquisition end of the current sensor, and the C-phase output end of the motor is electrically connected to the B-phase current signal acquisition end of the current sensor, and the B-phase wiring and the C-phase wiring between the motor and the current sensor are directly reconnected.

Alternatively, similar to the principle of the above-described embodiment, when the connection state of the three-phase output terminal of the motor and the current sensor is normal, if the input β -axis reference voltage U β is a negative value, the output current of the current sensor should be the second a-phase current value Ia2 of 0, the second B-phase current value Ib2 of a negative number and the second C-phase current value Ic2 of a positive number, so that, when the input β -axis reference voltage U β is a negative value, the connection state between the motor and the current sensor can be determined by determining whether the three-phase output current of the motor satisfies the above-described relationship, if the determination result is that the second a-phase current value Ia2 is 0, the second B-phase current value Ib2 of a negative number and the second C-phase current value Ic2 of a positive number, it is determined that the connection state of the three-phase output terminal of the motor and the current sensor is normal, and if the determination result does not coincide with the above-described result, it is determined that the connection state of the three-phase output terminal of the motor and the current sensor is abnormal, the wiring error condition between the motor and the current sensor can be continuously judged.

For example, if the second a-phase current value Ia2 is a negative number, the second B-phase current value Ib2 is 0, and the second C-phase current value Ic2 is a positive number, it is determined that the connection state of the three-phase output terminal of the motor and the current sensor is abnormal, the B-phase output terminal of the motor is electrically connected to the a-phase current signal collecting terminal of the current sensor, and the a-phase output terminal of the motor is electrically connected to the B-phase current signal collecting terminal of the current sensor, the a-phase connection and the B-phase connection between the motor and the current sensor may be directly reconnected. If the second a-phase current value Ia2 is a positive number, the second B-phase current value Ib2 is a negative number, and the second C-phase current value Ic2 is 0, it is determined that the connection state of the three-phase output end of the motor and the current sensor is abnormal, the C-phase output end of the motor is electrically connected with the a-phase current signal acquisition end of the current sensor, and the a-phase output end of the motor is electrically connected with the C-phase current signal acquisition end of the current sensor, and the a-phase connection wire and the C-phase connection wire between the motor and the current sensor are directly reconnected. If the second a-phase current value Ia2 is 0, the second B-phase current value Ib2 is a positive number, and the second C-phase current value Ic2 is a negative number, it is determined that the connection state of the three-phase output end of the motor and the current sensor is abnormal, the B-phase output end of the motor is electrically connected with the C-phase current signal acquisition end of the current sensor, and the C-phase output end of the motor is electrically connected with the B-phase current signal acquisition end of the current sensor, and the B-phase connection wire and the C-phase connection wire between the motor and the current sensor are directly reconnected.

The wiring detection method of the electric drive system provided by the embodiment of the invention provides different detection methods for the second current signal output by the corresponding current sensor under different conditions that the beta axis reference voltage Ubeta is a positive number or a negative number, improves the intelligent degree of the wiring detection method, and is suitable for wiring detection under various conditions.

It should be noted that, in order to improve the accuracy of the wiring detection result, a first current signal obtained when the α -axis reference voltage U α is input and a second current signal obtained when the β -axis reference voltage U β is input may be simultaneously detected, and the detection result obtained from the α -axis reference voltage U α and the first current signal and the detection result obtained from the β -axis reference voltage U β and the second current signal are integrated to determine the wiring state between the motor and the current sensor.

Optionally, fig. 8 is a flowchart of a wiring detection method of an electric drive system according to another embodiment of the present invention, and as shown in fig. 8, the wiring detection method includes:

s610, starting with the voltage value of the alpha-axis reference voltage Ualpha equal to 0, providing the alpha-axis reference voltage Ualpha to the pulse width modulation circuit for multiple times, and obtaining first position information of a rotor in the motor and a first current signal output by a current sensor until the voltage value of the alpha-axis reference voltage Ualpha is a preset voltage value; the voltage value of the alpha-axis reference voltage Ualpha provided to the pulse width modulation circuit at the last time is larger than that of the alpha-axis reference voltage Ualpha provided to the pulse width modulation circuit at the last time by a first preset value.

Specifically, in order to avoid runaway of the unloaded motor due to direct input of the reference voltage of the preset voltage value to the electric drive system, the α -axis reference voltage U α supplied to the electric drive system may be controlled to gradually change from 0. For example, starting with the voltage value of the α -axis reference voltage U α equal to 0, the α -axis reference voltage U α is provided to the pulse width modulation circuit for multiple times until the voltage value of the α -axis reference voltage U α is the preset voltage value, and if the α -axis reference voltage U α provided to the pulse width modulation circuit is a positive value, the preset voltage value may be the preset voltage value

If the α -axis reference voltage U α provided to the pwm circuit is a negative value, the preset voltage value may be set to be a positive value

When the value of the alpha axis reference voltage Ualpha is a preset voltage value, first position information of a rotor in the motor and a first current signal output by a current sensor are obtained. The α -axis reference voltage U α provided to the pulse width modulation circuit at the subsequent time is greater than the α -axis reference voltage U α provided to the pulse width modulation circuit at the previous time by a first preset value (for example, may be 0.1V).

S620, starting when the voltage value of the beta-axis reference voltage U beta is equal to 0, the beta-axis reference voltage U beta is time-divided into multiple times to the pulse width modulation circuit, and when the voltage value of the beta-axis reference voltage U beta is a preset voltage value, second position information of a rotor in the motor and a second current signal output by a current sensor are obtained; the beta-axis reference voltage Ubeta provided to the pulse width modulation circuit at the last time is larger than the voltage value of the beta-axis reference voltage Ubeta provided to the pulse width modulation circuit at the last time by a second preset value.

Also, in order to prevent the idle motor from running away by directly inputting the reference voltage of the preset voltage value to the electric drive system, the β -axis reference voltage U β supplied to the electric drive system may be controlled to gradually change from 0. Illustratively, the β -axis reference voltage U β is supplied to the pulse width modulation circuit a plurality of times, starting with the voltage value of the β -axis reference voltage U β being equal to 0, until the β -axis reference voltage U β reaches the predetermined valueThe reference voltage U β has a predetermined voltage value, and if the β -axis reference voltage U β provided to the pwm circuit has a positive value, the predetermined voltage value may be

If the β -axis reference voltage U β provided to the pwm circuit is a negative value, the predetermined voltage value may be set to be a negative value

And when the value of the beta axis reference voltage Ubeta is a preset voltage value, acquiring second position information of a rotor in the motor and a second current signal output by the current sensor. The β -axis reference voltage U β provided to the pulse width modulation circuit at the next time is greater than the β -axis reference voltage U β provided to the pulse width modulation circuit at the previous time by a second preset value (for example, may be the same as the first preset value, and is 0.1V).

S630, determining the wiring state between the three-phase inverter and the three-phase input end of the motor according to the alpha-axis reference voltage Ualpha, the beta-axis reference voltage Ubeta, and the first position information and the second position information of the rotor in the motor.

And S640, determining the wiring state of the three-phase output end of the motor and the current sensor according to the alpha-axis reference voltage Ualpha and the first current signal output by the current sensor and/or according to the beta-axis reference voltage Ubeta and the second current signal output by the current sensor.

And S650, displaying the wiring state between the three-phase inverter and the three-phase input end of the motor, and displaying the wiring state between the three-phase output end of the motor and the current sensor.

Specifically, in order to enable an operator to know the wiring state between the three-phase inverter and the motor and the wiring state between the motor and the current sensor more intuitively, the wiring detection result and the wiring detection result between the motor and the current sensor may be displayed. For example, if the wiring state between the three-phase inverter and the motor and the three-phase inverter and the motor is normal, a prompt that the wiring is normal is displayed, and if the wiring state between the three-phase inverter and the motor and the three-phase inverter and the motor is abnormal, a prompt that an operator is required to check and rewire the wiring when the wiring is abnormal is displayed; if the wiring of the motor and the current sensor is normal, the prompt of normal wiring is displayed, and if the wiring of the motor and the current sensor is abnormal, the wrong wiring of the motor and the current sensor is displayed, for example, the wrong wiring of an A phase line and a C phase line of the motor and the current sensor is displayed, so that the wiring state of an electric drive system of an operator can be effectively prompted.

Based on the same inventive concept, embodiments of the present invention further provide a wiring detection device of an electric drive system, which can detect a wiring state of the electric drive system, and the wiring detection device of the electric drive system can be used to perform the wiring detection method of the electric drive system provided by the embodiments of the present invention, and the wiring detection device of the electric drive system can be implemented by software and/or hardware.

Optionally, fig. 9 is a schematic structural diagram of a wiring detection device of an electric drive system according to an embodiment of the present invention, and as shown in fig. 9, the electric drive system includes a pulse width modulation circuit 210, a three-phase inverter 220, a motor 230, and a current sensor 240, which are electrically connected in sequence, and the wiring detection device includes: a first information obtaining module 310, configured to obtain first position information of a rotor in the motor and a first current signal output by a current sensor when the pulse width modulation circuit is provided with an α -axis reference voltage U α and the three-phase inverter is provided with a dc bus voltage Udc; the second information acquisition module 320 is configured to acquire second position information of a rotor in the motor and a second current signal output by the current sensor when the pulse width modulation circuit provides a β -axis reference voltage U β and the three-phase inverter provides a dc bus voltage Udc; the first wiring state determining module 330 is configured to determine a wiring state between the three-phase inverter and the three-phase input terminal of the motor according to the α -axis reference voltage U α, the β -axis reference voltage U β, and the first position information and the second position information of the rotor in the motor; and the second wiring state determining module 340 is configured to determine a wiring state between the three-phase output terminal of the motor and the current sensor according to the α -axis reference voltage U α and the first current signal output by the current sensor, and/or according to the β -axis reference voltage U β and the second current signal output by the current sensor.

In the wiring detection device of the electric drive system provided by the embodiment of the invention, the first information acquisition module acquires the first position information of the rotor in the motor and the first current signal output by the current sensor when the alpha-axis reference voltage Ualpha is provided for the electric drive system, the second information acquisition module acquires the second position information of the rotor in the motor and the second current signal output by the current sensor when the beta-axis reference voltage Ubeta is provided for the electric drive system, the first wiring state determination module detects the wiring state between the three-phase inverter and the three-phase input end of the motor according to the acquired information, the second wiring state determination module detects the wiring state between the three-phase output end of the motor and the current sensor according to the acquired information, and the wiring detection device can simultaneously detect the wiring state between the three-phase inverter and the motor and the wiring state between the motor and the current sensor, the motor is effective and simple, is easy to realize, and can effectively avoid the problem that the motor cannot normally work or damage system devices due to wiring errors.

Optionally, the first position information includes a first electrical angle of the rotor of the electric machine, and the second position information includes a second electrical angle of the rotor of the electric machine; fig. 10 is a schematic structural diagram of a wiring detection device of an electric drive system according to an embodiment of the present invention, and as shown in fig. 10, the first wiring state determining module 330 includes a first determining unit 331, configured to determine whether a phase difference between the second electrical angle and the first electrical angle is pi/2 when both the α -axis reference voltage U α and the α 0-axis reference voltage U α 1 are positive values, or both the α 2-axis reference voltage U α 3 and the α 4-axis reference voltage U α 5 are negative values; if so, determining that the wiring state between the three-phase inverter and the three-phase input end of the motor is normal; if not, determining that the wiring state between the three-phase inverter and the three-phase input end of the motor is abnormal; a second determining unit 332, configured to determine whether a phase difference between the second electrical angle and the first electrical angle is-pi/2 when the α -axis reference voltage U α is a positive value and the β -axis reference voltage U β is a negative value, or the α -axis reference voltage U α is a negative value and the β -axis reference voltage U β is a positive value; if so, determining that the wiring state between the three-phase inverter and the three-phase input end of the motor is normal; if not, determining the three-phase input of the three-phase inverter and the motorThe wiring state between the terminals is abnormal; wherein the content of the first and second substances,

Optionally, the first current signal output by the current sensor includes a first a-phase current value, a first B-phase current value, and a first C-phase current value; the first A-phase current value is the current output by the A-phase output end of the motor detected by the current sensor, the first B-phase current value is the current output by the B-phase output end of the motor detected by the current sensor, and the first C-phase current value is the current output by the C-phase output end of the motor detected by the current sensor; the second current signal output by the current sensor comprises a second A-phase current value, a second B-phase current value and a second C-phase current value; the second A-phase current value is the current output by the A-phase output end of the motor detected by the current sensor, the second B-phase current value is the current output by the B-phase output end of the motor detected by the current sensor, and the second C-phase current value is the current output by the C-phase output end of the motor detected by the current sensor; referring to fig. 10, when the connection state between the three-phase output terminal of the motor and the current sensor is normal, the a-phase output terminal of the motor is electrically connected to the a-phase current collecting terminal of the current sensor, the B-phase output terminal of the motor is electrically connected to the B-phase current collecting terminal of the current sensor, and the C-phase output terminal of the motor is electrically connected to the C-phase current collecting terminal of the current sensor.

Optionally, the second connection state determining module 340 includes: the first connection state detection unit 341 is configured to, when the α -axis reference voltage U α is a positive value, determine that the connection state between the three-phase output end of the motor and the current sensor is normal if the first a-phase current value is a positive number and the first B-phase current value and the first C-phase current value are both negative numbers; if the first A-phase current value and the first C-phase current value are both negative numbers and the first B-phase current value is a positive number, determining that the three-phase output end of the motor is abnormal in wiring state with the current sensor, and the B-phase output end of the motor is electrically connected with the A-phase current signal acquisition end of the current sensor and the A-phase output end of the motor is electrically connected with the B-phase current signal acquisition end of the current sensor; if the first A-phase current value and the first B-phase current value are both negative numbers and the first C-phase current value is a positive number, determining that the three-phase output end of the motor is abnormal in wiring state with the current sensor, and the C-phase output end of the motor is electrically connected with the A-phase current signal acquisition end of the current sensor and the A-phase output end of the motor is electrically connected with the C-phase current signal acquisition end of the current sensor; the second connection state detection unit 342 is configured to, when the α -axis reference voltage U α is a negative value, determine that the connection state between the three-phase output end of the motor and the current sensor is normal if the first a-phase current value is a negative number and the first B-phase current value and the first C-phase current value are both positive numbers; if the first A-phase current value and the first C-phase current value are positive numbers and the first B-phase current value is a negative number, determining that the three-phase output end of the motor is abnormal in wiring state with the current sensor, the B-phase output end of the motor is electrically connected with the A-phase current signal acquisition end of the current sensor, and the A-phase output end of the motor is electrically connected with the B-phase current signal acquisition end of the current sensor; and if the first A-phase current value and the first B-phase current value are positive numbers and the first C-phase output current is a negative number, determining that the three-phase output end of the motor is abnormal in wiring state with the current sensor, and the C-phase output end of the motor is electrically connected with the A-phase current signal acquisition end of the current sensor and the A-phase output end of the motor is electrically connected with the C-phase current signal acquisition end of the current sensor.

Optionally, the second connection state determining module 340 further includes: the third wiring state detection unit 343 is configured to, when the β -axis reference voltage U β is a positive value, determine that the wiring states of the three-phase output terminal of the motor and the current sensor are normal if the second a-phase current value is 0, the second B-phase current value is a positive number, and the second C-phase current value is a negative number; if the second A-phase current value is a positive number, the second B-phase current value is 0 and the second C-phase current value is a negative number, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, electrically connecting the B-phase output end of the motor with the A-phase current signal acquisition end of the current sensor, and electrically connecting the A-phase output end of the motor with the B-phase current signal acquisition end of the current sensor; if the second A-phase current value is a negative number, the second B-phase current values are positive numbers, and the second C-phase current value is 0, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, electrically connecting the C-phase output end of the motor with the A-phase current signal acquisition end of the current sensor, and electrically connecting the A-phase output end of the motor with the C-phase current signal acquisition end of the current sensor; if the second A-phase current value is 0, the second B-phase current value is a negative number, and the second C-phase current value is a positive number, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, electrically connecting the B-phase output end of the motor with the C-phase current signal acquisition end of the current sensor, and electrically connecting the C-phase output end of the motor with the B-phase current signal acquisition end of the current sensor; a fourth wiring state detection unit 344, configured to determine that the wiring state between the three-phase output end of the motor and the current sensor is normal if the second a-phase current value is 0, the second B-phase current value is a negative number, and the second C-phase current value is a positive number when the β -axis reference voltage U β is a negative value; if the second A-phase current value is a negative number, the second B-phase current value is 0 and the second C-phase current value is a positive number, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, electrically connecting the B-phase output end of the motor with the A-phase current signal acquisition end of the current sensor, and electrically connecting the A-phase output end of the motor with the B-phase current signal acquisition end of the current sensor; if the second A-phase current value is a positive number, the second B-phase current values are negative numbers, and the second C-phase current value is 0, determining that the wiring state of the three-phase output end of the motor and the current sensor is abnormal, electrically connecting the C-phase output end of the motor with the A-phase current signal acquisition end of the current sensor, and electrically connecting the A-phase output end of the motor with the C-phase current signal acquisition end of the current sensor; and if the second A-phase current value is 0, the second B-phase current value is a positive number, and the second C-phase current value is a negative number, determining that the three-phase output end of the motor is abnormal in wiring state with the current sensor, the B-phase output end of the motor is electrically connected with the C-phase current signal acquisition end of the current sensor, and the C-phase output end of the motor is electrically connected with the B-phase current signal acquisition end of the current sensor.

Optionally, the first information obtaining module 310 includes: an α -axis reference voltage U α control unit 311 for supplying the α -axis reference voltage U α to the pulse width modulation circuit in multiple times starting with a voltage value of the α -axis reference voltage U α equal to 0; a first information obtaining unit 312, configured to obtain first position information of a rotor in the motor and a first current signal output by the current sensor when a voltage value of the α -axis reference voltage U α provided by the α -axis reference voltage U α control unit 311 is a preset voltage value; the voltage value of the alpha-axis reference voltage Ualpha provided to the pulse width modulation circuit at the last time is larger than that of the alpha-axis reference voltage Ualpha provided to the pulse width modulation circuit at the last time by a first preset value.

Optionally, the second information obtaining module 320 includes: a β -axis reference voltage U β control unit 321 configured to time the β -axis reference voltage U β to the pulse width modulation circuit for a plurality of times, starting with a voltage value of the β -axis reference voltage U β equal to 0; a second information obtaining unit 322, configured to obtain second position information of the rotor in the motor and a second current signal output by the current sensor when a voltage value of the β -axis reference voltage U β provided by the β -axis reference voltage U β control unit 321 is a preset voltage value; the beta-axis reference voltage Ubeta provided to the pulse width modulation circuit at the last time is larger than the voltage value of the beta-axis reference voltage Ubeta provided to the pulse width modulation circuit at the last time by a second preset value.

Optionally, the wiring detection apparatus 300 of the electric drive system further includes a display module 350, configured to display a wiring state between the three-phase inverter and the three-phase input terminal of the motor, and display a wiring state between the three-phase output terminal of the motor and the current sensor.

An embodiment of the present invention further provides a motor control system, including: the system comprises an electric drive system and a controller, wherein the electric drive system comprises a pulse width modulation circuit, a three-phase inverter, a motor and a current sensor which are electrically connected in sequence, and the controller can be used for executing the wiring detection method of the electric drive system provided by any embodiment of the invention.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A wiring detection method of an electric drive system, wherein the electric drive system comprises a pulse width modulation circuit, a three-phase inverter, a motor and a current sensor which are electrically connected in sequence, and the wiring detection method is characterized by comprising the following steps:

2. The wiring detection method according to claim 1, wherein the first position information includes a first electrical angle of the motor rotor, and the second position information includes a second electrical angle of the motor rotor;

wherein the content of the first and second substances,

3. The wiring detection method according to claim 1, wherein the first current signal output by the current sensor includes a first a-phase current value, a first B-phase current value, and a first C-phase current value; the first a-phase current value is a current output by an a-phase output end of the motor detected by the current sensor, the first B-phase current value is a current output by a B-phase output end of the motor detected by the current sensor, and the first C-phase current value is a current output by a C-phase output end of the motor detected by the current sensor;

4. The wiring detection method according to claim 3, wherein determining the wiring state of the three-phase output terminal of the motor and the current sensor based on the α -axis reference voltage Uα and the first current signal output by the current sensor comprises:

5. The wiring detection method according to claim 3, wherein determining the wiring state of the three-phase output terminal of the motor and the current sensor based on the β -axis reference voltage Uβ and the second current signal output by the current sensor comprises:

6. The wiring detection method according to claim 1, wherein providing an α -axis reference voltage U α to the pulse width modulation circuit and acquiring first position information of a rotor in the motor and a first current signal output by the current sensor comprises:

7. The wiring detection method according to claim 1,

providing a beta-axis reference voltage Ubeta to the pulse width modulation circuit, and acquiring second position information of a rotor in the motor and a second current signal output by the current sensor, wherein the beta-axis reference voltage Ubeta comprises:

8. The wiring detection method according to claim 1, further comprising:

9. A wiring detection device of an electric drive system, the electric drive system including a pulse width modulation circuit, a three-phase inverter, a motor and a current sensor which are electrically connected in sequence, characterized by comprising:

10. A motor control system is characterized by comprising an electric drive system and a controller;

the controller is used for executing the wiring detection method of the electric drive system as claimed in claims 1-8.